A woman who accused the late financier Jeffrey Epstein of sex abuse and alleged she was forced to have sex with Prince Andrew as a 17-year-old has urged the UK royal to “come clean”.

Speaking after a hearing for alleged victims in the wake of Epstein’s death, Virginia Giuffre told reporters the prince “knows what he’s done”.

The Duke of York denies the accusation.

Epstein killed himself in his prison cell this month while awaiting trial on sex trafficking and conspiracy charges.

The 66-year-old tycoon - who once counted President Donald Trump, former President Bill Clinton and Prince Andrew as friends - was found unresponsive on 10 August. About 15 plaintiffs were given an opportunity to speak at the New York City court hearing that brings an end to the criminal case - which is now closed because of Epstein’s death.